Updates:
Status: Invalid
Comment #1 on issue 3280 by smi...@gmail.com: Problem with solve
http://code.google.com/p/sympy/issues/detail?id=3280
https://github.com/sympy/sympy/wiki/Getting-the-bleeding-edge
This works in the current development version:
invKinJ1
[{x: xPK - sqrt(-d1**2 - 2*d1*yPK + l1**2 - yPK**2 - zPK**2), z: 0, y:
-d1}, {x:
xPK + sqrt(-d1**2 - 2*d1*yPK + l1**2 - yPK**2 - zPK**2), z: 0, y: -d1}]
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